Benjamin Netanyahu and Uhuru Kenyatta at State House, Nairobi, last year. [File picture]

Israeli Prime Minister Benjamin Netanyahu did not attend President Uhuru Kenyatta's inauguration at the Moi International Sports Complex Kasarani on Tuesday.

According to Israeli media, Mr Netanyahu did not attend the swearing in because of security concerns that had been raised earlier.

“Rather, after landing in the morning and being received in an official ceremony, Netanyahu is scheduled to take part in an event at the Presidential palace, where he will have a joint meeting with some 10 African leaders,” Jerusalem Post wrote.

The Israel Times said that the PM was asked to boycott the event over safety concerns.

“The Shin Bet Security Service has therefore not green-lighted for Netanyahu to appear at Nairobi’s Kasarani Stadium out of concern for his safety,” The Israel Times reported, citing Hebrew media.

The country also indicated that Netanyahu was expected to be in the country for a few hours before jetting back home.

The Prime Minister, however, arrived in Kenya later and is set to meet leaders of Tanzania, Uganda, Zambia, Rwanda, Togo, Botswana, Namibia and Ethiopia among other dignitaries.

Prime Minister Netanyahu landed in Nairobi, Kenya, where he was welcomed by an honor guard. ???????????????? pic.twitter.com/zWAdgJqtBz — PM of Israel (@IsraeliPM) November 28, 2017

Prime Minister Netanyahu landed in Nairobi, Kenya, where he was welcomed by an honor guard. ???????????????? pic.twitter.com/zWAdgJqtBz — PM of Israel (@IsraeliPM) November 28, 2017

Several heads of state attended the inauguration at the 60,000-seater Kasarani. They were: South Sudan President Salva Kiir, Zambia president Edgar Lungu, Rwanda President Paul Kagame, Djibouti President Ismail Omar Guelleh, Botswana President Ian Khama, Ethiopian Prime Minister Hailemariam Desalegn, Uganda President Yoweri Museveni and Gabon President Ali Bongo.

Others included; African Union Representative Pierre Buyoya and Rupiah Banda, Special envoys from Eritrea and Zambia, former Senegal Prime Minister Aminata Touré, Foreign Affairs Ministers from Palestine and India Algeria's Speaker of the National Assembly.